Research On The Auxiliary Force Control System Of The Rehabilitation Training Device Of Lower Limb Sit-to-stand Conversion

With the aging of the population and the increasing number of lower limb injuries population size,higher requirements are put forward for the control methods and rehabilitation effects of lower limb rehabilitation training equipment.In this paper,according to the requirements of the control system of the rehabilitation training device of the lower limb sit to stand conversion,through the systematic analysis of the research status at home and abroad,a force position hybrid control method of the lower limb rehabilitation training device is proposed,and the debugging of the control system of the prototype of the rehabilitation training device of the sit to stand conversion is completed through the establishment of auxiliary force control strategy and simulation analysis.The specific research contents and related work are as follows:Firstly,the pressure distribution change rule of the soles and buttocks of the human body in the process of standing was analyzed by using the membrane contact pressure sensor.The changes of the center of gravity and pressure value of the human body in the process of sitting to standing and the influence rule of height and weight factors on the average pressure in the process of standing were studied.Through the establishment of the mechanical model of the human standing process,the pressure changes of the lower limb joints are calculated based on the measured plantar pressure changes,and the accuracy of the model is verified by comparing the hip joint pressure test results with the calculation results,which provides the experimental basis for the subsequent calculation of joint force and auxiliary force.Then,according to the lower limb standing rehabilitation training device,a hybrid control strategy of force and position is established,and the hardware of the control system is built and the operation software of the rehabilitation training system is programmed with C language.The cooperative simulation analysis model of the lower extremity rehabilitation standing training device was established by using the multi-body dynamics software RecurDyn and MATLAB / Simulink.Through thesimulation,the movement process of the rehabilitation training device and movement track of rehabilitation training device under hip pressure step excitation is obtained.Finally,through the debugging of the control system,the sit to stand transformation test is carried out on the lower limb standing rehabilitation training device,and the pressure change track of the foot bottom and buttocks of the subjects in the standing process is obtained,which verifies the feasibility of the control strategy of the lower limb rehabilitation training device.Simulation and test results show that the control system of the rehabilitation training device can provide effective control and drive for the rehabilitation training of lower limb,it has practical engineering significance for the development of rehabilitation training equipment and the improvement of rehabilitation training effect.